Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state
estimation via nonlinear optimization. However, real-time optimization quickly becomes …

Current approaches for visual-inertial navigation (VIN) are able to attain highly accurate
state estimation via nonlinear optimization. However, real-time optimization quickly becomes …

In recent years, many approaches to visual-inertial odometry (VIO) have become available.
However, they neither exploit the robot's dynamics and known actuation inputs, nor …

We present DM-VIO, a monocular visual-inertial odometry system based on two novel
techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO …

In this tutorial, we provide principled methods to quantitatively evaluate the quality of an
estimated trajectory from visual (-inertial) odometry (VO/VIO), which is the foundation of …

Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-
based approaches outperform filtering methods in terms of accuracy due to their capability to …

One camera and one low-cost inertial measurement unit (IMU) form a monocular visual-
inertial system (VINS), which is the minimum sensor suite (in size, weight, and power) for the …

Combining visual and inertial measurements has become popular in mobile robotics, since
the two sensing modalities offer complementary characteristics that make them the ideal …

We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates
camera poses and sparse scene geometry by minimizing photometric and IMU …

To address the problem of estimating camera trajectory and to build a structural three-
dimensional (3D) map based on inertial measurements and visual observations, this paper …